Erik Frey
71333938ec
PiperOrigin-RevId: 627136131 Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
126 lines
4.7 KiB
Python
126 lines
4.7 KiB
Python
# Copyright 2023 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Tests for constraint functions."""
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from absl.testing import absltest
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from jax import numpy as jp
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import mujoco
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from mujoco import mjx
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from mujoco.mjx._src import constraint
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from mujoco.mjx._src import test_util
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import numpy as np
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# tolerance for difference between MuJoCo and MJX constraint calculations,
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# mostly due to float precision
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_TOLERANCE = 5e-5
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def _assert_eq(a, b, name):
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tol = _TOLERANCE * 10 # avoid test noise
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err_msg = f'mismatch: {name}'
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np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
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def _assert_attr_eq(a, b, attr):
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_assert_eq(getattr(a, attr), getattr(b, attr), attr)
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class ConstraintTest(absltest.TestCase):
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def test_constraints(self):
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"""Test constraints."""
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m = test_util.load_test_file('constraints.xml')
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d = mujoco.MjData(m)
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mujoco.mj_step(m, d, 100) # at 100 steps mix of active/inactive constraints
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mujoco.mj_forward(m, d)
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mx = mjx.put_model(m)
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dx = mjx.put_data(m, d)
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dx = mjx.make_constraint(mx, dx)
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d_efc_j = d.efc_J.reshape((-1, m.nv))
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# ne, nf, nl order matches
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efl = d.ne + d.nf + d.nl
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_assert_eq(d_efc_j[:efl], dx.efc_J[:efl], 'efc_J')
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_assert_eq(d.efc_D[:efl], dx.efc_D[:efl], 'efc_D')
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_assert_eq(d.efc_aref[:efl], dx.efc_aref[:efl], 'efc_aref')
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_assert_eq(dx.efc_frictionloss, 0, 'efc_frictionloss')
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# contact order might not match, so check efcs contact by contact
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for i in range(d.ncon):
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geom_match = (dx.contact.geom == d.contact.geom[i]).all(axis=-1)
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geom_match &= (dx.contact.pos == d.contact.pos[i]).all(axis=-1)
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self.assertTrue(geom_match.any(), f'contact {i} not found in MJX contact')
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j = np.nonzero(geom_match)[0][0]
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self.assertEqual(d.contact.dim[i], dx.contact.dim[j])
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nc = max(1, (d.contact.dim[i] - 1) * 2)
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d_beg, dx_beg = d.contact.efc_address[i], dx.contact.efc_address[j]
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d_end, dx_end = d_beg + nc, dx_beg + nc
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_assert_eq(d_efc_j[d_beg:d_end], dx.efc_J[dx_beg:dx_end], 'efc_J')
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_assert_eq(d.efc_D[d_beg:d_end], dx.efc_D[dx_beg:dx_end], 'efc_D')
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d_efc_aref = d.efc_aref[d_beg:d_end]
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dx_efc_aref = dx.efc_aref[dx_beg:dx_end]
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_assert_eq(d_efc_aref, dx_efc_aref, 'efc_aref')
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def test_disable_refsafe(self):
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m = test_util.load_test_file('constraints.xml')
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timeconst = m.opt.timestep / 4.0 # timeconst < 2 * timestep
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solimp = jp.array([timeconst, 1.0])
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solref = jp.array([0.8, 0.99, 0.001, 0.2, 2])
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pos = jp.ones(3)
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m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.REFSAFE
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mx = mjx.put_model(m)
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k, *_ = constraint._kbi(mx, solimp, solref, pos)
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self.assertEqual(k, 1 / (0.99**2 * timeconst**2))
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def test_disable_constraint(self):
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m = test_util.load_test_file('constraints.xml')
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m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONSTRAINT
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ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
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self.assertEqual(ne, 0)
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self.assertEqual(nf, 0)
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self.assertEqual(nl, 0)
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self.assertEqual(nc, 0)
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dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
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self.assertEqual(dx.efc_J.shape[0], 0)
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def test_disable_equality(self):
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m = test_util.load_test_file('constraints.xml')
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m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.EQUALITY
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ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
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self.assertEqual(ne, 0)
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self.assertEqual(nf, 0)
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self.assertEqual(nl, 2)
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self.assertEqual(nc, 148)
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dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
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self.assertEqual(dx.efc_J.shape[0], 150) # only joint range, contact
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def test_disable_contact(self):
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m = test_util.load_test_file('constraints.xml')
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m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONTACT
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ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
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self.assertEqual(ne, 10)
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self.assertEqual(nf, 0)
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self.assertEqual(nl, 2)
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self.assertEqual(nc, 0)
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dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
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self.assertEqual(dx.efc_J.shape[0], 12) # only joint range, limit
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if __name__ == '__main__':
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absltest.main()
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